Management system and management method of mining machine

ABSTRACT

A management system of a mining machine includes a vehicle, a first antenna, in the vehicle, receiving radio waves from GPS satellites, a portable second antenna, in a releasable manner in the vehicle, receiving radio waves from the GPS satellites, a first detector, in the vehicle, detecting a position of the first antenna based on a signal from the first antenna, a second detector, in the vehicle, detecting a position of the second antenna based on a signal from the second antenna, and a processer setting a prohibited area where an entry of a mining machine is prohibited based on detection results of the first and second detectors, such that the prohibited area includes the positions of the first and second antennae.

FIELD

The present invention relates to a management system and a managementmethod of a mining machine.

BACKGROUND

Mining machines such as an excavator and a dump truck operate at aworking of a mine. Moreover, a worker works at the mine. PatentLiterature 1 discloses a technology related to a site monitoring systemfor the purpose of securing the safety of a worker.

CITATION LIST Patent Literature

Patent Literature 1: Japanese Laid-open Patent Publication No.2010-117882

SUMMARY Technical Problem

When a worker works at a mine, if the operation of a mining machine isstopped to secure safety, productivity at the mine may be reduced.Moreover, when equipment different from the mining machine operates atthe mine, if the operation of the mining machine is stopped,productivity at the mine may be reduced.

An object of the present invention is to provide a management system anda management method of a mining machine, which can suppress a reductionin productivity at a mine.

Solution to Problem

According to the present invention, a management system of a miningmachine comprises: a vehicle able to run at a mine; a first antenna,placed in the vehicle, configured to receive radio waves from GPSsatellites; a portable second antenna, mounted in a releasable manner inthe vehicle, configured to receive radio waves from the GPS satellites;a first detection device, placed in the vehicle, configured to detect aposition of the first antenna based on a signal from the first antenna;a second detection device configured to detect a position of the secondantenna based on a signal from the second antenna; and a processingdevice configured to set a prohibited area where an entry of a miningmachine able to run at the mine is prohibited based on a detectionresult of the first detection device and a detection result of thesecond detection device, such that the prohibited area includes theposition of the first antenna and the position of the second antenna.

In the present invention, the second detection device can be placed inthe vehicle, and the second antenna can be configured to receive radiowaves from the GPS satellites in a state of being placed outside thevehicle.

In the present invention, the second antenna can be an antenna carriedby a worker manning the vehicle.

The management system of a mining machine can further comprise anoperating unit, placed in the vehicle, configured to allow an input of asignal into the processing device, and the operating unit can beoperated to perform at least one of the setting of the prohibited areaincluding the position of the second antenna and a cancellation of thesetting.

In the present invention, the mining machine is operated on at least apart of a load site, a dump site, and a haul road leading to at leastone of the load site and the dump site at the mine, and the prohibitedarea including the position of the first antenna is continued to be setduring the operation of the mining machine.

In the present invention, the prohibited area can be one area includingboth the position of the first antenna and the position of the secondantenna.

In the present invention, the processing device can be configured tochange a size of the prohibited area based on a relative positionbetween the first antenna and the second antenna.

In the present invention, the prohibited area can include a firstprohibited area including the position of the first antenna, and asecond prohibited area that is set away from the first prohibited areaand includes the position of the second antenna.

The management system of a mining machine can further comprise acommunication system configured to transmit an instruction signal to themining machine to prevent the mining machine from entering theprohibited area.

In the present invention, the communication system can include a firstcommunication device, mounted in the vehicle, configured to allow atransmission of information based on signals respectively from the firstand second antennas.

In the present invention, the information based on the signals caninclude information on the position of the first antenna detected by thefirst detection device, and information on the position of the secondantenna detected by the second detection device.

The management system of a mining machine can further comprise a controlfacility including the processing device, wherein the processing deviceof the control facility can be configured to set the prohibited areabased on the information based on the signals from the firstcommunication device, the communication system can include a secondcommunication device placed in the control facility and a thirdcommunication device placed in the mining machine, and the instructionsignal can be transmitted from the second communication device to thethird communication device.

According to the present invention, a management system of a miningmachine, including a central control apparatus placed in a controlfacility, the management system comprises: a vehicle able to run at amine; a first antenna, placed in the vehicle, configured to receiveradio waves from GPS satellites; a portable second antenna, mounted in areleasable manner in the vehicle, configured to receive radio waves fromthe GPS satellites in a state of being carried by a worker manning thevehicle outside the vehicle; a first detection device, placed in thevehicle, configured to detect a position of the first antenna based on asignal from the first antenna; a second detection device, placed in thevehicle, configured to detect a position of the second antenna based ona signal from the second antenna; a processing device, provided in thecentral control apparatus, configured to set a prohibited area where anentry of a mining machine able to run at the mine is prohibited, basedon a detection result of the first detection device and a detectionresult of the second detection device, such that the prohibited areaincludes the position of the first antenna and the position of thesecond antenna, and set a travel condition of the mining machine to stopa travel of the mining machine before the prohibited area; and acommunication system configured to transmit to the mining machineinformation on the travel condition set by the processing device,wherein the mining machine is configured to run at the mine inaccordance with the information on the travel condition transmitted fromthe central control apparatus by the communication system.

According to the present invention, a management method of a miningmachine comprises: receiving radio waves from GPS satellites with afirst antenna placed in a vehicle able to run at a mine; receiving radiowaves from the GPS satellites with a portable second antenna mounted ina releasable manner in the vehicle; detecting a position of the firstantenna based on a signal from the first antenna; detecting a positionof the second antenna based on a signal from the second antenna; andsetting a prohibited area where an entry of a mining machine able to runat the mine is prohibited based on results of the detection, such thatthe prohibited area includes the position of the first antenna and theposition of the second antenna.

According to the present invention, a management method of a miningmachine, using a central control apparatus placed in a control facility,the management method comprises: causing a processing device provided inthe central control apparatus to receive radio waves from GPS satelliteswith a first antenna placed in a vehicle able to run at a mine, receiveradio waves from the GPS satellites with a second antenna that ismounted in a releasable manner in the vehicle and carried by a workermanning the vehicle outside the vehicle, detect a position of the firstantenna based on a signal from the first antenna, detect a position ofthe second antenna based on a signal from the second antenna, and set aprohibited area where an entry of a mining machine able to run at themine is prohibited based on results of the detection, such that theprohibited area includes the position of the first antenna and theposition of the second antenna, and set a travel condition of the miningmachine to stop a travel of the mining machine before the prohibitedarea; transmit to the mining machine information on the travel conditionset by the processing device; and cause the mining machine to run inaccordance with the information on the travel condition transmitted fromthe central control apparatus.

According to the present invention, a reduction in productivity at amine is suppressed.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a diagram illustrating an example of a management system of amining machine according to the embodiment.

FIG. 2 is a diagram illustrating an example of a control apparatusaccording to the embodiment.

FIG. 3 is a diagram illustrating an example of a dump truck according tothe embodiment.

FIG. 4 is a diagram illustrating an example of a control system of thedump truck according to the embodiment.

FIG. 5 is a diagram illustrating an example of a vehicle according tothe embodiment.

FIG. 6 is a diagram illustrating an example of a control system of thevehicle according to the embodiment.

FIG. 7 is a diagram illustrating an example of the method of use of alandmark according to the embodiment.

FIG. 8 is a flowchart illustrating an example of a traveling method ofthe dump truck according to the embodiment.

FIG. 9 is a schematic diagram illustrating an example of a positiondetection process and a position registration process of the landmarkaccording to the embodiment.

FIG. 10 is a flowchart illustrating an example of the position detectionprocess and the position registration process of the landmark accordingto the embodiment.

FIG. 11 is a diagram illustrating an example of a prohibited areaaccording to the embodiment.

FIG. 12 is a diagram illustrating an example of the prohibited areaaccording to the embodiment.

FIG. 13 is a diagram illustrating an example of the prohibited areaaccording to the embodiment.

FIG. 14 is a diagram illustrating an example of the prohibited areaaccording to the embodiment.

FIG. 15 is a diagram illustrating an example of the prohibited areaaccording to the embodiment.

DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment according to the present invention will bedescribed with reference to the drawings. However, the present inventionis not limited to the embodiment.

<Outline of Management System of Mining Machine>

FIG. 1 is a diagram illustrating an example of a management system 1 ofa mining machine according to the embodiment. FIG. 1 schematicallyillustrates the management system 1 and sites where the managementsystem 1 is applied.

The management system 1 includes a control apparatus 10 placed in acontrol facility 7, and manages mining machines. The management ofmining machines includes at least one of operations control of miningmachines, the evaluation of productivity of the mining machines, theevaluation of operation skill of the mining machine operators, themaintenance of the mining machines, and the abnormality diagnosis of themining machines.

The mining machine is a generic name of machinery used for variousoperations at a mine. Mining machines include at least one of a boringmachine, an excavating machine, a loading machine, and a transportmachine. The excavating machines can excavate a mine. The loadingmachines can load the transport machine. The loading machines include atleast one of an excavator, an electric shovel, and a wheel loader. Thetransport machine includes a moving body that can move at a mine, andcan transport a load. The transport machines include a dump truck. Theload includes at least either earth and sand or ores produced byexcavation.

In the embodiment, the management system 1 manages the transportmachines that can run at a mine. In the embodiment, a description willbe given of an example where the management system 1 manages a dumptruck 2. The dump truck 2 operates on at least parts of a load site LPA,a dump site DPA, and a haul road HL that leads to at least one of theload site LPA and the dump site DPA at the mine. The dump truck 2 is amoving body that can move at the mine. The dump truck 2 can run on atleast parts of the load site LPA, the dump site DPA, and the haul roadHL. The dump truck 2 can move between the load site LPA and the dumpsite DPA, running along the haul road HL.

The dump truck 2 is loaded with a load at the load site LPA. The loadsite LPA is an area (place) where at the mine the loading operation of aload is performed. The dump truck 2 is loaded with the load at a loadingposition LP at the load site LPA. The loading position LP is a position(loading point) where at the load site LPA a load loading operation isperformed. The loading operation is an operation to load the dump truck2 with a load. A loading machine 4 loads the dump truck 2 at the loadsite LPA. The loading machine 4 loads the dump truck 2 situated at theloading position LP.

The dump truck 2 unloads (deposits) the load at the dump site DPA. Thedump site DPA is an area (place) where at the mine a load depositoperation is performed. The dump truck 2 deposits the load at a dumpingposition DP at the dump site DPA. The deposit operation is an operationto unload (deposit) a load from the dump truck 2. The load is depositedfrom the dump truck 2 at the dump site DPA. The dump truck 2 is situatedat the dumping position DP and deposits the load.

In the embodiment, the dump truck 2 is what is called a driverless dumptruck that operates by an instruction signal from the control apparatus10. A worker (driver) does not ride in the dump truck 2.

In FIG. 1, the management system 1 includes a vehicle 3 that can run ata mine, the control apparatus 10 that is placed in the control facility7 and controls the dump truck 2, landmarks 8 installed at the mine, acommunication system 9 that can convey information.

The vehicle 3 is a moving body that can move at the mine. The vehicle 3can run on at least parts of the load site LPA, the dump site DPA, andthe haul road HL. A worker (driver) rides in the vehicle 3. In otherwords, the vehicle 3 is what is called a manned vehicle. The vehicle 3runs at the mine to carry out various operations related to the mineincluding the management and maintenance of the mining machines. Theworker rides in the vehicle 3 and moves to any given position (place) atthe mine.

The control apparatus 10 is installed in the control facility 7 at themine. The control facility 7 may be referred to as the control facility7 or the central control room 7. The control apparatus 10 may bereferred to as the control apparatus (central control apparatus 10 orthe central control system 10. The control apparatus 10 does not movebut may be movable.

A plurality of the landmarks 8 is installed at the mine. The landmarks 8are respectively placed at the load site LPA, the dump site DPA, and thehaul road HL. The landmark 8 is a stationary object. The landmark 8 doesnot move from its installed position (place). The management system 1uses the landmark 8 to correct the position of the dump truck 2. In theembodiment, the dump truck 2 runs along a created travel route. When thedump truck 2 runs off the travel route, the management system 1 correctsthe position of the dump truck 2 using the landmark 8 so as to cause thedump truck 2 to run along the travel route.

The communication system 9 conveys information between the vehicle 3,the control apparatus 10, and the dump truck 2. The control apparatus 10and the dump truck 2 can communicate with each other via thecommunication system 9. The control apparatus 10 and the vehicle 3 cancommunicate with each other via the communication system 9. The dumptruck 2 and the vehicle 3 can communicate with each other via thecommunication system 9. In the embodiment, the communication system 9includes a wireless communication system. The vehicle 3, the controlapparatus 10, and the dump truck 2 can wirelessly communicate with eachother via the communication system 9. In the embodiment, thecommunication system 9 includes a relay 6 that relays a signal (radiowave) between the vehicle 3, the control apparatus 10, and the dumptruck 2.

In the embodiment, the position of the dump truck 2, the position of thevehicle 3, and the position of the landmark 8 are detected using theglobal positioning system (Global Positioning System: GPS). GPS includesGPS satellites 5. GPS detects a position in the coordinate system (GPScoordinate system) that defines latitude, longitude, and altitude. Theposition detected by GPS includes coordinate data of latitude,longitude, and altitude. The positions of the dump truck 2, the vehicle3, and the landmark 8 at the mine are detected by GPS. The positiondetected by GPS is an absolute position defined in the GPS coordinatesystem. In the following description, the position detected by GPS isreferred to as the GPS position as appropriate. The GPS position is anabsolute position. The GPS position is coordinate data (coordinatevalues) of latitude, longitude, and altitude.

<Control Apparatus>

Next, the control apparatus 10 placed in the control facility 7 will bedescribed. FIG. 2 is a block diagram illustrating an example of thecontrol apparatus 10 according to the embodiment. As illustrated inFIGS. 1 and 2, the control apparatus 10 includes a computer system 11, adisplay device 16, an input device 17, and a wireless communicationdevice 18.

The computer system 11 includes a processing device 12, a storage device13, and an input/output unit 15. The display device 16, the input device17, and the wireless communication, device 18 are connected to thecomputer system 11 via the input/output unit 15. The input/output unit15 is used for the input/output (interface) of information between theprocessing device 12 and at least one of the display device 16, theinput device 17, and the wireless communication device 18.

The processing device 12 includes a CPU (Central Processing Unit). Theprocessing device 12 executes various processes related to themanagement of the dump truck 2. The processing device 12 includes a dataprocessing unit 12A, a prohibited area setting unit 12B, and a travelroute creation unit 12C. In the embodiment, the data processing unit 12Aprocesses information on the position of the dump truck 2, informationon the position of the vehicle 3, and information on the position of thelandmark 8, the information having been acquired via the communicationsystem 9. The prohibited area setting unit 12B sets a prohibited areawhere at the mine the entry of the dump truck 2 is prohibited. Thetravel route creation unit 12C creates a travel route where the dumptruck 2 runs. The dump truck 2 runs along the travel route created bythe travel route creation unit 12C on at least parts of the load siteLAP, the dump site DPA, and the haul road HL.

The storage device 13 is connected to the processing device 12. Thestorage device 13 includes at least one of a RAM (Random Access Memory),a ROM (Read Only Memory), a flash memory, and a hard disk drive. Thestorage device 13 stores various pieces of information on the managementof the dump truck 2. The storage device 13 includes a database 13B whereinformation is registered. The storage device 13 stores a computerprogram for causing the processing device 12 to execute variousprocesses. The processing device 12 uses the computer program stored inthe storage device 13 to process information on the position, set aprohibited area, and create a travel route.

The display device 16 includes a flat panel display such as a liquidcrystal display. The display device 16 can display information on theposition of the dump truck 2, information on the position of the vehicle3, and information on the position of the landmark 8.

The input device 17 includes at least one of a keyboard, a touch panel,and a mouse. The input device 17 functions as an operating unit that caninput an operation signal into the processing device 12. A controller ofthe control facility 7 can input an operation signal into the processingdevice 12 by operating the input device 17.

The communication system 9 includes the wireless communication device18. The wireless communication device 18 is placed in the controlfacility 7. The wireless communication device 18 is connected to theprocessing device 12 via the input/output unit 15. The wirelesscommunication device 18 includes an antenna 18A. The wirelesscommunication device 18 can receive information transmitted from atleast one of the dump truck 2 and the vehicle 3. The informationreceived by the wireless communication device 18 is output to theprocessing device 12. The information received by the wirelesscommunication device 18 is stored (registered) in the storage device 13.The wireless communication device 18 can transmit information to atleast one of the dump truck 2 and the vehicle 3.

<Dump Truck>

Next, the dump truck 2 will be described. FIG. 3 is a diagramschematically illustrating the appearance of the dump truck 2 accordingto the embodiment. FIG. 4 is a control block diagram of the dump truck 2according to the embodiment.

As illustrated in FIGS. 3 and 4, the dump truck 2 includes a vehiclebody 21, a vessel 22, wheels 23, a non-contact sensor 24 that detectsthe landmark 8 in a non-contact manner, a processing device 20, astorage device 25, a gyro sensor 26, a speed sensor 27, a wirelesscommunication device 28 to which an antenna 28A is connected, and aposition detection device 29 to which an antenna 29A is connected.

A drive device is placed in the vehicle body 21. The drive deviceincludes an internal combustion engine such as a diesel engine, agenerator operated by the internal combustion engine, and a motoroperated by electric power generated by the generator. The motor drivesthe wheels 23. The wheel 23 includes a tire and a wheel. The wheels 23rotate with the power transmitted from the drive device of the vehiclebody 21. The power of the internal combustion engine may be transmittedto the wheels 23 via a transmission including a torque converter.

The vessel 22 includes a bed where a load is loaded. The vessel 22 isswingably placed on the vehicle body 21. The loading machine 4 loads thevessel 22. The vessel 22 is lifted in the deposit operation to depositthe load.

The non-contact sensor 24 is placed at the front of the vehicle body 21.The non-contact sensor 24 detects the landmark 8 installed at the minein a non-contact manner. In the embodiment, the non-contact sensor 24includes a radar. The non-contact sensor 24 emits a radio wave toirradiate the landmark 8 with the radio wave. At least part of the radiowave by which the landmark 8 was irradiated is reflected from thelandmark 8. The non-contact sensor 24 receives the radio wave reflectedfrom the landmark 8. Consequently, the non-contact sensor 24 can detecta direction and a distance of the landmark 8 with respect to thenon-contact sensor 24. The non-contact sensor 24 detects the relativeposition between the non-contact sensor 24 and the landmark 8. Thenon-contact sensor 24 is fixed to the vehicle body 21. The non-contactsensor 24 is connected to the processing device 20. The non-contactsensor 24 outputs a detection signal to the processing device 20. Theprocessing device 20 can obtain the relative position between the dumptruck 2 and the landmark 8 based on the detection signal of thenon-contact sensor 24. In other words, the non-contact sensor 24 detectsthe relative position of the landmark 8 with respect to itself andaccordingly the relative position between the dump truck 2 and thelandmark 8 are detected. Moreover, the non-contact sensor 24 functionsas an obstacle detection sensor that detects an obstacle in front of thevehicle body 21.

The gyro sensor 26 detects the direction (amount of directional change)of the dump truck 2. The gyro sensor 26 is connected to the processingdevice 20. The gyro sensor 26 outputs a detection signal to theprocessing device 20. The processing device 20 can obtain the direction(amount of directional change) of the dump truck 2 based on thedetection signal of the gyro sensor 26.

The speed sensor 27 detects the travel speed of the dump truck 2. In theembodiment, the speed sensor 27 detects the rotational speed of thewheel 23 to detect the speed (travel speed) of the dump truck 2. Thespeed sensor 27 is connected to the processing device 20. The speedsensor 27 outputs a detection signal to the processing device 20. Theprocessing device 20 can obtain a travel distance of the dump truck 2based on the detection signal of the speed sensor 27 and timeinformation from a timer built in the processing device 20.

The processing device 20 is mounted in the dump truck 2. The processingdevice 20 includes a CPU (Central Processing Unit). The processingdevice 20 executes various processes related to the management of thedump truck 2. The processing device 20 includes a data processing unit,a prohibited area setting unit, and a travel route creation unit, andcan execute processes equivalent to those of the processing device 12placed in the control facility 7. In other words, the data processingunit of the processing device 20 can process information on the positionof the dump truck 2, information on the position of the vehicle 3, andinformation on the position of the landmark 8. The prohibited areasetting unit of the processing device 20 can set a prohibited area whereat the mine the entry of the dump truck 2 is prohibited. The travelroute creation unit of the processing device 20 can create a travelroute where the dump truck 2 runs. The processing device 20 includes atravel control unit 20D. The travel control unit 20D controls the travelof the dump truck 2 such that the dump truck 2 runs along the createdtravel route. The control of the travel of the dump truck 2 includescontrol of operations of the dump truck 2. The operations of the dumptruck 2 include at least one of steering, acceleration, and brakeoperations. The processing device 20 may not include the data processingunit, the prohibited area setting unit, and the travel route creationunit.

The storage device 25 is mounted in the dump truck 2. The storage device25 is connected to the processing device 20. The storage device 25includes at least one of a RAM (Random Access Memory), a ROM (Read OnlyMemory), a flash memory, and a hard disk drive. The storage device 25stores various pieces of information on the management of the dump truck2. The storage device 25 includes a database 25B where information isregistered. The storage device 25 stores a computer program for causingthe processing device 20 to execute various processes. The storagedevice 25 can store (register) information equivalent to that of thestorage device 13 placed in the control facility 7.

The communication system 9 includes the wireless communication device28. The wireless communication device 28 is placed in the dump truck 2.The wireless communication device 28 is connected to the processingdevice 20. The wireless communication device 28 includes the antenna28A. The wireless communication device 28 can receive information(including an instruction signal) transmitted from at least one of thecontrol apparatus 10 and the vehicle 3. The information received by thewireless communication device 28 is output to the processing device 20.The information received by the wireless communication device 28 isstored (registered) in the storage device 25. The processing device 20(the travel control unit 20D) can control the travel of the dump truck 2in accordance with the instruction signal received by the wirelesscommunication device 28. The instruction signal includes information ona travel route, and information on a travel speed of the dump truck 2.The wireless communication device 28 can transmit information to atleast one of the control apparatus 10 and the vehicle 3.

The position detection device 29 is placed in the dump truck 2. Theposition detection device 29 is connected to the processing device 20.The position detection device 29 includes a GPS receiver, and detectsthe position (GPS position) of the dump truck 2. The position detectiondevice 29 includes the GPS antenna 29A. The position detection device 29detects the position (GPS position) of the antenna 29A. The antenna 29Ais placed on the dump truck 2. The position (GPS position) of theantenna 29A is detected to detect the position (GPS position) of thedump truck 2. The antenna 29A receives radio waves from the GPSsatellites 5. The antenna 29A outputs to the position detection device29 signals based on the received radio waves. The position detectiondevice 29 detects the position (GPS position) of the antenna 29A basedon the signals from the antenna 29A. The position detection device 29converts into electrical signals the signals based on the radio wavesreceived from the GPS satellites 5 by the antenna 29A and calculates theposition (GPS position) of the antenna 29A. The GPS position of theantenna 29A is calculated to obtain the GPS position of the dump truck2.

<Vehicle>

Next, the vehicle 3 will be described. FIG. 5 is a diagram schematicallyillustrating the appearance of the vehicle 3 according to theembodiment. FIG. 6 is a control block diagram, of the vehicle 3according to the embodiment.

As illustrated in FIGS. 5 and 6, the vehicle 3 includes a vehicle body37, wheels 38, a processing device 30, a storage device 39, a wirelesscommunication device 32 to which an antenna 32A is connected, a positiondetection device 33 to which an antenna 33A is connected, a displaydevice 36, and an input device 31.

An engine is placed in the vehicle body 37. The wheels 38 rotate withthe power transmitted from the engine of the vehicle body 37. The wheel38 includes a tire and a wheel. The wheels 38 rotate to cause thevehicle 3 to run. In the embodiment, a worker WM rides in the vehicle 3.The driving operation of the worker WM causes the vehicle 3 to run.

The processing device 30 includes a CPU (Central Processing Unit). Theprocessing device 30 executes various processes related to themanagement of the dump truck 2. The processing device 30 includes a dataprocessing unit, a prohibited area setting unit, and a travel routecreation unit, and can execute processes equivalent to those of theprocessing device 12 placed in the control facility 7 and those of theprocessing device 20 placed in the dump truck 2. In other words, thedata processing unit of the processing device 30 can process informationon the position of the dump truck 2, information on the position of thevehicle 3, and information on the position of the landmark 8, theinformation having been acquired via the communication system 9. Theprohibited area setting unit of the processing device 30 can set aprohibited area where at the mine the entry of the dump truck 2 isprohibited. The travel route creation unit of the processing device 30can create a travel route where the dump truck 2 runs. The processingdevice 30 may not include the data processing unit, the prohibited areasetting unit, and the travel route creation unit.

The storage device 39 is mounted, in the vehicle 3. The storage device39 is connected to the processing device 30. The storage device 39includes at least, one of a RAM (Random Access Memory), a ROM (Read OnlyMemory), a flash memory, and a hard disk drive. The storage device 39stores various pieces of information on the management of the dump truck2. The storage device 39 includes a database 39B where information isregistered. The storage device 39 stores a computer program for causingthe processing device 30 to execute various processes. The storagedevice 39 can store (register) information equivalent to that of thestorage device 13 placed in the control facility 7 and that of thestorage device 25 placed in the dump truck 2.

The display device 36 includes a flat panel display such as a liquidcrystal display. The display device 36 can display information on theposition of the dump truck 2, information on the position of the vehicle3, and information on the position of the landmark 8.

The input device 31 includes at least one of a keyboard, a touch panel,and a mouse. The input device 31 functions as an operating unit that caninput an operation signal into the processing device 30. The worker(driver) WM of the vehicle 3 can input an operation signal into theprocessing device 30 by operating the input device 31.

The communication system 9 includes the wireless communication device32. The wireless communication device 32 is placed in the vehicle 3. Thewireless communication device 32 is connected to the processing device30. The wireless communication device 32 includes the antenna 32A. Thewireless communication device 32 can receive information (including aninstruction signal) transmitted from at least one of the controlapparatus 10 and the dump truck 2. The information received by thewireless communication device 32 is output to the processing device 30.The information received by the wireless communication device 32 isstored (registered) in the storage device 39. The wireless communicationdevice 32 can transmit information to at least one of the controlapparatus 10 and the dump truck 2.

The position detection device 33 is placed in the vehicle 3. Theposition detection device 33 is connected to the processing device 30.The position detection device 33 includes a GPS receiver, and detectsthe position (GPS position) of the vehicle 3. The position detectiondevice 33 includes the GPS antenna 33A. The position detection device 33detects the position (GPS position) of the antenna 33A. The antenna 33Ais placed on the vehicle 3. The position (GPS position) of the antenna33A is detected to detect the position (GPS position) of the vehicle 3.The antenna 33A receives radio waves from the GPS satellites 5. Theantenna 33A outputs to the position detection device 33 signals based onthe received radio waves. The position detection device 33 detects theposition (GPS position) of the antenna 33A based on the signals from theantenna 33A. The position detection device 33 converts into electricalsignals the signals based on the radio waves received from the GPSsatellites 5 by the antenna 33A and calculates the position (GPSposition) of the antenna 33A. The GPS position of the antenna 33A iscalculated to obtain the GPS position of the vehicle 3.

In the embodiment, a GPS antenna 34A is mounted on the vehicle 3. Theantenna 34A receives radio waves from the GPS satellites 5. The antenna34A is mounted in a releasable manner in the vehicle 3. The antenna 34Areleased from the vehicle 3 can be moved to the outside of the vehicle3. The antenna 34A can be moved to a position away from the vehicle 3.The antenna 34A is portable. The worker WM can carry (hold) the antenna34A. The worker WM can move to the outside of the vehicle 3 holding theantenna 34A. The worker WM can move to a position away from the vehicle3 holding the antenna 34A. The antenna 34A can receive radio waves fromthe GPS satellites 5 while being placed, outside the vehicle 3.

A position detection device 34 is placed in the vehicle 3. The positiondetection device 34 is connected to the processing device 30. Theposition detection device 34 includes a GPS receiver. The positiondetection device 34 and the antenna 34A are connected via a cable 35.The position detection device 34 detects the position (GPS position) ofthe antenna 34A. If the worker WM is carrying the antenna 34A, theposition (GPS position) of the antenna 34A is detected to detect theposition (GPS position) of the worker WM. If the antenna 34A is placedin the vicinity of an object, the position (GPS position) of the antenna34A is detected to detect the position (GPS position) of the object. Theantenna 34A receives radio waves from the GPS satellites 5. The antenna34A outputs signals based on the received radio waves to the positiondetection device 34 via the cable 35. The position detection device 34detects the position (GPS position) of the antenna 34A based on thesignals from the antenna 34A. The position detection device 34 convertsinto electrical signals the signals based on the radio waves receivedfrom the GPS satellites 5 by the antenna 34A and calculates the position(GPS position) of the antenna 34A. The GPS position of the antenna 34Ais calculated to obtain the GPS position of the object (including theworker WM) situated in the vicinity of the antenna 34A.

<Method of Use of Landmark>

Next, a method of use of the landmark 8 will be described. FIG. 7 is adiagram schematically illustrating an example of a state where thelandmark 8 is being detected by the non-contact sensor 24 of the dumptruck 2. The landmarks 8 are respectively placed at the load site LPA,the dump site DPA, and the haul road HL. For the haul road HL, thelandmarks 8 are placed outside (at the shoulder of) the haul road HL. Aplurality of the landmarks 8 is spaced out along the haul road HL. Thelandmarks 8 may be placed, for example, at intervals of 100 m.

The landmark 8 is a stationary object. The landmark 8 does not move fromits installed position (place). The landmark 8 is a structure (feature)placed along the travel route. The landmark 8 is detected by thenon-contact sensor 24 placed on the dump truck 2. The landmark 8includes a reflecting portion (reflecting surface) that can reflect aradio wave emitted from the non-contact sensor 24. The reflectance(reflection intensity) of the reflecting portion of the landmark 8 withrespect to a radio wave is higher than the reflectance (reflectionintensity) of an object around the landmark 8. The objects around thelandmark 8 include at least one of a rock, the running dump truck 2, andthe vehicle 3 at the mine.

The non-contact sensor 24 includes a radar. The non-contact sensor 24includes an emission unit that can emit a radio wave and a receivingunit that can receive a radio wave. The non-contact sensor 24 is placedat the front of the dump truck 2. At least part of the radio waveemitted from the emission unit of the non-contact sensor 24 andirradiated to the landmark 8 is reflected from the reflecting portion ofthe landmark 8. The non-contact sensor 24 receives, at the receivingunit, the radio wave reflected from the reflecting portion of thelandmark 8. The non-contact sensor 24 receives the radio wave from thelandmark 8 and detects the relative position between the non-contactsensor 24 and the landmark 8. The non-contact sensor 24 is fixed to thedump truck 2. The relative position between the non-contact sensor 24and the landmark 8 is detected to detect the relative position betweenthe dump truck 2 and the landmark 8. The relative position of thelandmark 8 with respect to the dump truck 2 is detected by thenon-contact sensor 24 placed on the dump truck 2.

In the embodiment, the radio wave from the non-contact sensor 24propagates so as to expand from the emission portion of the non-contactsensor 24. The landmark 8 is placed in a propagation area (propagationspace) where the radio wave emitted from the non-contact sensor 24propagates, which enables the non-contact sensor 24 to detect thelandmark 8. Moreover, the radio wave emitted from the non-contact sensor24 attenuates as it travels. In other words, the intensity of the radiowave emitted from the non-contact sensor 24 decreases as the radio wavetravels. The landmark 8 is placed in the propagation area (propagationspace) where the radio wave emitted from the non-contact sensor 24propagates in a state of maintaining intensity equal to or more than apredetermined value, which enables the non-contact sensor 24 to detectthe landmark 8. In the following description, the radio wave propagationarea (propagation space) where the non-contact sensor 24 can detect thelandmark 8 based on the radio wave emitted from the non-contact sensor24 is referred to as a detection area (detection space) 300 of thenon-contact sensor 24 as appropriate. The landmark 8 is placed in thedetection area 300 of the non-contact sensor 24 to enable thenon-contact sensor 24 to detect the landmark 8.

The non-contact sensor 24 may detect the landmark 8 using detectionlight (laser light). In other words, the non-contact sensor 24 mayinclude a radiation unit that can radiate the detection light, and areceiving unit that can receive at least part of the detection lightradiated from the radiation unit and then reflected from the landmark 8.The landmark 8 is placed in an irradiation area (irradiation space)where the detection light radiated from the non-contact sensor 24 isirradiated, which enables the non-contact sensor 24 to detect thelandmark 8. Moreover, the detection light radiated from the non-contactsensor 24 attenuates as it travels. The landmark 8 is placed in theirradiation area (irradiation space) where the detection light radiatedfrom the non-contact sensor 24 is irradiated in a state of maintainingintensity equal to or more than a predetermined value, which enables thenon-contact sensor 24 to detect the landmark 8. If the non-contactsensor 24 detects the landmark 8 with the detection light, the detectionarea 300 of the non-contact sensor 24 includes the detection lightirradiation area (irradiation space) where the landmark 8 can bedetected based on the detection light radiated from the non-contactsensor 24.

In the embodiment, GPS (Global Positioning System) is used to detect theposition (GPS position, absolute position) of the landmark 8. The GPSposition of the landmark 8, which was detected using GPS, is registeredin the storage device 13 of the control apparatus 10. Moreover,information on the relative position between the dump truck 2 and thelandmark 8, which was detected using the non-contact sensor 24, istransmitted to the control apparatus 10 (the processing device 12) viathe communication system 9. The processing device 12 can obtain theabsolute position (GPS position) of the dump truck 2 based on theinformation on the relative position between the dump truck 2 and thelandmark 8 detected using the non-contact sensor 24, and information onthe absolute position (GPS position) of the landmark 8 registered(stored) in the storage device 13.

The GPS position of the landmark 8 detected using GPS may be registeredin the storage device 25 of the dump truck 2. The processing device 20of the dump truck 2 may obtain the absolute position (GPS position) ofthe dump truck 2 based on the information on the relative positionbetween the dump truck 2 and the landmark 8 detected using thenon-contact sensor 24, and the information on the absolute position (GPSposition) of the landmark 8 registered (stored) in the storage device25.

<Traveling Method of Dump Truck>

Next, an example of a traveling method of the dump truck 2 according tothe embodiment will be described. The processing device 12 transmits aninstruction signal to the processing device 20 (the travel control unit20D) of the dump truck 2 via the communication system 9 (the wirelesscommunication device 18 and the wireless communication device 28). Theinstruction signal includes information on travel conditions of the dumptruck 2. The information on the travel conditions include information ona travel route created by the processing device 12, and information onthe travel speed of the dump truck 2. The processing device 20 (thetravel control unit 20D) controls operations (at least one of steering,acceleration, and brake operations) of the dump truck 2 based on theinstruction signal transmitted from the processing device 12 via thecommunication system 9, and controls the travel of the dump truck 2.

An example where the dump truck 2 runs based on dead reckoning will bedescribed. In the embodiment, the dump truck 2 runs on at least parts ofthe load site LPA, the dump site DPA, and the haul road HL in accordancewith the travel conditions including a travel route created by theprocessing device 12 of the control apparatus 10, and a travel speed(target travel speed) set by the processing device 12. In theembodiment, the processing device 20 causes the dump truck 2 to run onat least parts of the mine in accordance with the created travel routewhile estimating the current position of the dump truck 2 using deadreckoning. Dead reckoning is navigation that estimates the currentposition of an object (the dump truck 2) based on a direction (amount ofdirectional change) and a travel distance relative to a starting pointwhose longitude and latitude are known. The direction (amount ofdirectional change) of the dump truck 2 is detected using the gyrosensor 26 placed in the dump truck 2. The travel distance of the dumptruck 2 is detected using the speed sensor 27 placed in the dump truck2. A detection signal of the gyro sensor 26 and a detection signal ofthe speed sensor 27 are output to the processing device 20 of the dumptruck 2. The processing device 20 can obtain the direction (amount ofdirectional change) of the dump truck 2 from the known starting pointbased on the detection signal from the gyro sensor 26. The processingdevice 20 can obtain the travel distance of the dump truck 2 from theknown starting point based on the detection signal from the speed sensor21. The processing device 20 calculates control amounts of the travel ofthe dump truck 2 based on the detection signals from the gyro sensor 26and the speed sensor 27 so as to cause the dump truck 2 to run along thecreated travel route. The control amounts include a steering amount(steering instruction) and a travel speed adjustment amount (speedinstruction). The processing device 20 controls the travel (operation)of the dump truck 2 based on the calculated control amounts so as tocause the dump truck 2 to run along the travel route.

Next, a description will be given of an example where the dump truck 2runs while an estimated position obtained by dead reckoning is correctedusing GPS. As the travel distance of the dump truck 2 increases, anerror may be caused between an estimated position (estimated position)and an actual position due to the accumulation of detection errors ofone or both of the gyro sensor 26 and the speed sensor 27. As aconsequence, the dump truck 2 may run off the travel route created bythe processing device 12. In the embodiment, the processing device 20causes the dump truck 2 to run while correcting the position (estimatedposition) of the dump truck 2 derived (estimated) by dead reckoning withinformation on the position (GPS position) of the dump truck 2 detectedby the position detection device 29. The processing device 20 calculatesthe control amounts of the travel of the dump truck 2, the controlamounts including a correction amount for correcting the position of thedump truck 2, based on the detection signal from the gyro sensor 26, thedetection signal from the speed sensor 27, and the information on theGPS position of the dump truck 2 from the position detection device 29so as to cause the dump truck 2 to run along the travel route. Theprocessing device 20 controls the travel (operation) of the dump truck 2based on the calculated correction amount and control amounts so as tocause the dump truck 2 to run along the travel route.

Next, a description will be given of an example where the dump truck 2runs while the estimated position obtained by dead reckoning iscorrected using the landmark 8. There may arise, at the mine, stateswhere detection accuracy (position determination accuracy) by GPS isreduced and where detection (position determination) by GPS becomesimpossible. For example, if the antenna 29A cannot fully receive radiowaves from the GPS satellites 5 at the mine due to the influence of anobstacle, or if the number of the GPS satellites 5 from which theantenna 29A can receive radio waves is small, there may arise stateswhere detection accuracy by GPS is reduced, and where detection by GPSbecomes impossible. In the embodiment, if it is difficult to correct theestimated position obtained by dead reckoning using GPS, the processingdevice 20 makes a correction using the landmark 8. In other words, if acorrection of the estimated position using GPS is not made, theprocessing device 20 corrects the position (estimated position) of thedump truck 2 obtained by dead reckoning, using information on theposition (GPS position, absolute position) of the dump truck 2 detectedusing the landmark 8 and the non-contact sensor 24.

FIG. 8 is a flowchart illustrating an example of a traveling method ofthe dump truck 2 including the correction of the estimated positionusing the landmark 8 and the non-contact sensor 24. Prior to theoperation of the dump truck 2, a plurality of the landmarks 8 isinstalled at the load site LPA, the dump site DPA, and the haul road HL.The positions (GPS positions, absolute positions) of the plurality ofthe landmarks 8 are respectively detected using GPS. Information on thepositions (GPS positions) of the landmarks 8 detected using GPS isregistered (stored) in the storage device 13 (step SA1). The informationon the positions of the landmarks 8 may be transmitted to the dump truck2 via the communication system 9 and registered (stored) in the storagedevice 25. The installation of the landmarks 8 and the detection of thepositions of the landmarks 8 using GPS may be performed concurrentlywith the operation of the dump truck 2.

The processing device 20 causes the dump truck 2 to run based on deadreckoning (step SA2). In other words, the processing device 20 causesthe dump truck 2 to run while estimating the position of the dump truck2 based on the direction (amount of directional change) of the dumptruck 2 obtained from a detection signal from the gyro sensor 26 and thetravel distance of the dump truck 2 obtained from a detection signalfrom the speed sensor 27.

Radio waves are emitted from the non-contact sensor 24 during the travelof the dump truck 2. Detection signals of the non-contact sensor 24 areoutput to the processing device 20. The processing device 20 determineswhether or not the landmark 8 has been detected based on the detectionsignals from the non-contact sensor 24 (step SA3).

If determining in step SA3 that the landmark 8 has been detected), theprocessing device 20 compares the absolute positions (GPS positions) ofthe landmarks 8 registered in step SA1 with the relative positionbetween the dump truck 2 and the landmark 8 detected using thenon-contact sensor 24 (step SA4). The absolute position (GPS position)of the dump truck 2 is derived based on information on the relativeposition between the dump truck 2 and the landmark 8 detected using thenon-contact sensor 24 and information on the registered (stored)absolute positions of the landmarks 8.

When the absolute position of the dump truck 2 is derived based on theregistered absolute positions of the landmarks 8 and the relativeposition between the dump truck 2 and the landmark 8 detected using thenon-contact sensor 24, the processing device 20 extracts information onthe position (absolute position) of the landmark 8 corresponding to thelandmark 8 detected by the non-contact sensor 24 from the plurality ofthe landmarks 8 registered in the storage device 13 (the storage device25). Out of the plurality of the registered landmarks 8, the landmark 8corresponding to the landmark 8 detected by the non-contact sensor 24includes the landmark 8 existing at the closest position (GPS position)to the position (estimated position) of the dump truck 2 derived basedon dead reckoning when the landmark 8 was detected using the non-contactsensor 24, among the plurality of the registered landmarks 8. Out of theplurality of the registered landmarks 8, the landmark 8 corresponding tothe landmark 8 detected by the non-contact sensor 24 includes thelandmark 8 determined to be placeable in the detection area 300 of thenon-contact sensor of the dump truck 2 existing at the position(estimated position) derived based on dead reckoning among the pluralityof the registered landmarks 8. For example, the processing device 20extracts, from the plurality of the registered landmarks 8, the landmark8 existing at the closest position (GPS position) to the position(estimated position) of the dump truck 2 derived based on dead reckoningwhen the landmark 8 was detected using the non-contact sensor 24. Thelandmarks 8 are placed, for example, at intervals of 100 m. The size ofthe detection area 300 of the non-contact sensor 24 with respect to thetravel direction of the dump truck 2 is, for example, 50 m. Hence, theprocessing device 20 can extract information on the position (absoluteposition) of the landmark 8 corresponding to the landmark 8 detected bythe non-contact sensor 24, from the plurality of the registeredlandmarks 8.

The processing device 20 corrects the position (estimated position) ofthe dump truck 2 based on the result of the comparison in step SA4 (stepSA5). For example, if determining that the position of the dump truck 2deviates from the travel route created by the processing device 12, theprocessing device 20 corrects the position of the dump truck 2 so as tocause the dump truck 2 to run along the travel route. In other words,the processing device 20 calculates the control amounts of the travel ofthe dump truck 2, including the correction amount for correcting theposition of the dump truck 2, based on a detection signal from the gyrosensor 26, a detection signal from the speed sensor 27, information onthe relative position between the dump truck 2 and the landmark 8detected using the non-contact sensor 24, and information on theabsolute positions (GPS positions) of the landmarks 8 stored in thestorage device 13 (the storage device 25) so as to cause the dump truck2 to run along the travel route. The processing device 20 (the travelcontrol unit 20D) controls the travel (operation) of the dump truck 2based on the calculated correction amount and control amounts so as tocause the dump truck 2 to run along the travel route.

If it is determined in step SA3 that the landmark 8 has not beendetected, it is determined whether or not travel is possible by deadreckoning alone without using a detection result of the landmark 8 (stepSA6). If a travel distance from a position obtained by correcting theprevious estimated position of the dump truck 2 (using one or both ofGPS and the landmark 8) is within a predetermined distance, theprocessing device 20 determines that an error in the estimated positionobtained by dead reckoning alone does not matter, and continues thetravel of the dump truck 2 based on dead reckoning (step SA2). Thepredetermined distance is a distance where travel from the positionobtained by correcting the estimated position is possible withoutdeviating greatly from the travel route, and is a distance determined inadvance. On the other hand, if it is determined in step SA6 that travelis not possible by dead reckoning alone, a stopping process (vehiclestopping process) of the dump truck 2 is performed until positiondetection by GPS becomes possible (step SA7).

In the embodiment, the example has been described where the processingdevice 20 of the dump truck 2 controls the travel of the dump truck 2.The control apparatus 10 (operation) of the dump truck 2 based on adetection signal of the gyro sensor 26 and a detection signal of thespeed sensor 27 so as to cause the dump truck 2 to run by dead reckoningon the created travel route. The processing device 12 may correct theposition (estimated position) of the dump truck 2 obtained by deadreckoning based on the detection result of the position detection device29. The processing device 12 may correct the position (estimatedposition) of the dump truck 2 obtained by dead reckoning based on thedetection result of the non-contact sensor 24.

<Example of Position Detection Process and Position Registration Processof Landmark>

Next, a description will be given of an example of the positiondetection process and the position registration process (the process instep SA1 in FIG. 8) of the landmark 8. The position detection process ofthe landmark 8 is a process of detecting the GPS position of thelandmark 8. The position registration process of the landmark 8 is aprocess of registering (storing) the detected GPS position (informationon the GPS position) of the landmark 8 in the storage device 13 (thedatabase 13B). The GPS position of the landmark 8 may be registered inthe storage device 25 (the database 25B) of the dump truck 2.

FIG. 9 is a diagram illustrating an example of the position detectionprocess and the position registration process of the landmark 8according to the embodiment. The position (GPS position) of the landmark8 installed at the mine is detected using GPS. As illustrated in FIG. 9,the position of the landmark 8 is detected using the GPS antenna 34A.

The vehicle 3 manned by the worker WM moves to the vicinity of thelandmark 8 targeted for position detection and position registration.The vehicle 3 moves to the vicinity of the landmark 8 targeted forposition detection and position registration with the antenna 34Amounted on the vehicle 3. The vehicle 3 moves (runs) by the drivingoperation of the worker WM.

The antenna 34A carried (held) by the worker WM is moved to the outsideof the vehicle 3. The worker WM moves to the outside of the vehicle 3carrying (holding) the antenna 34A. The antenna 34A is carried (held) bythe worker WM and brought out from the vehicle 3. The position detectiondevice 34 is situated inside the vehicle 3. The antenna 34A and theposition detection device 34 are connected via the cable 35.

As illustrated in FIG. 9, the antenna 34A is installed in the vicinityof the landmark 8 installed at the mine. The antenna 34A is installed inthe vicinity of the landmark 8 by the worker WM. The antenna 34A is heldby the worker WM. The antenna 34A receives radio waves from the GPSsatellites 5 while being situated outside the vehicle 3. Signals based,on the radio waves received from the GPS satellites 5 by the antenna 34Aare output to the position detection device 34 via the cable 35. Theposition detection device 34 detects the position (GPS position) of theantenna 34A based on the signals from the antenna 34A. As illustrated inFIG. 9, the antenna 34A outputs to the position detection device 34 thesignals based on the radio waves from the GPS satellites 5 while beinginstalled in the vicinity of the landmark 8. Therefore, the positiondetection device 34 obtains the GPS position of the antenna 34A toobtain the GPS position of the landmark 8. Moreover, as illustrated inFIG. 9, not only the landmark 8 but also the worker WM exists in thevicinity of the antenna 34A. Therefore, the position detection device 34obtains the GPS position of the antenna 34A to also obtain the GPSposition of the worker WM. In other words, in the embodiment, theposition detection device 34 simultaneously detects the GPS position ofthe antenna 34A, the GPS position of the landmark 8, and the GPSposition of the worker WM.

Information based on the signals from the antenna 34A is transmitted tothe wireless communication device 18 of the control apparatus 10 by thewireless communication device 32 mounted in the vehicle 3. In theembodiment, the information on the signals from the antenna 34A includesinformation on the position (GPS position) of the antenna 34A,information on the position (GPS position) of the landmark 8, andinformation on the position (GPS position) of the worker WM, thepositions having been detected by the position detection device 34 basedon the signals from the antenna 34A. The processing device 30 of thevehicle 3 transmits from the wireless communication device 32 theinformation on the position of the antenna 34A, the information on theposition of the landmark 8, and the information on the position of theworker WM. The wireless communication device 18 of the control apparatus10 receives the information from the wireless communication device 32 ofthe vehicle 3. The processing device 12 of the control apparatus 10processes the information on the positions transmitted from the vehicle3 via the communication system 9 including the wireless communicationdevices 32 and 18. The processing device 12 registers in the storagedevice 13 (the database 13B) the information on the position (GPSposition) of the landmark 8 obtained using the antenna 34A.

<Position Detection Process and Position Registration Process ofLandmark Including Setting of Prohibited Area>

Next, a description will be given of an example where a prohibited area100 where the entry of the dump truck 2 is prohibited is set in theposition detection process and the position registration process of thelandmark 8, which have been described with reference to FIG. 9, so as toinclude the position of the antenna 34A.

As described with reference to FIG. 9, the worker WM carries out workoutside the vehicle 3 in the position detection process of the landmark8. When the worker WM carries out work outside the vehicle 3 during theoperation of the dump truck 2, the work of the worker WM may not becarried out smoothly. For example, if the dump truck 2 approaches theworker WM during the execution of work, the worker WM may need to stopthe work. As a consequence, productivity and working efficiency at themine may be reduced. Moreover, also from the viewpoint of securing thesafety of the worker WM, a hindrance to the work may be caused. On theother hand, if the operation of the dump truck 2 is stopped while theworker WM is working, productivity at the mine may be reduced.

In the embodiment, the prohibited area 100 (see FIG. 11) where the entryof the dump truck 2 is prohibited is set so as to include the positionof the antenna 34A. Consequently, a reduction of productivity at themine is suppressed.

FIG. 10 is a flowchart illustrating an example of the position detectionprocess and the position registration process of the landmark 8according to the embodiment. FIG. 11 is a schematic diagram illustratingan example of the prohibited area 100 according to the embodiment.

The vehicle 3 manned by the worker WM moves to the vicinity of thelandmark 8 for the position detection process and the positionregistration process of the landmark 8. Prior to the position detectionprocess and the position registration process of the landmark 8, theantenna 34A and the position detection device 34 are connected via thecable 35 (step SB1).

Prior to the position detection process and the position registrationprocess of the landmark 8, the antenna 33A placed on the vehicle 3continues to receive radio waves from the GPS satellites 5. The positiondetection device 33 detects the position (GPS position) of the antenna33A based on signals from the antenna 33A. Moreover, prior to theposition detection process and the position registration process of thelandmark 8, the antenna 34A mounted in the vehicle 3 continues toreceive radio waves from the GPS satellites 5. The position detectiondevice 34 detects the position (GPS position) of the antenna 34A basedon signals from the antenna 34A. Information on the position (GPSposition) of the antenna 33A detected by the position detection device33, and information on the position (GPS position) of the antenna 34Adetected by the position detection device 34 are output to theprocessing device 30. The processing device 30 transmits from thewireless communication device 32 the information on the position (GPSposition) of the antenna 33A detected by the position detection device33, and the information on the position (GPS position) of the antenna34A detected by the position, detection device 34. The wirelesscommunication device 32 mounted in the vehicle 3 transmits to thewireless communication device 18 of the control apparatus 10 theinformation on the position (GPS position) of the antenna 33A detectedby the position detection device 33, and the information on the position(GPS position) of the antenna 34A detected by the position detectiondevice 34. The wireless communication device 18 of the control apparatus10 receives the information on the GPS position of the antenna 33A andthe information on the GPS position of the antenna 34A from, thewireless communication device 32, and outputs the information to theprocessing device 12. Consequently, the processing device 12 acquiresthe information on the GPS position of the antenna 33A and theinformation on the GPS position of the antenna 34A.

Prior to going out of the vehicle 3, the worker WM operates the inputdevice 31 placed in the vehicle 3. The worker WM operates the inputdevice 31 prior to performing the position detection process of thelandmark 8 outside the vehicle 3. The input device 31 functions as theoperating unit that can input an operation signal into the processingdevice 30. The worker WM operates the input device 31 to start theposition detection process of the landmark 8 (step SB2). In theembodiment, the input device 31 includes a touch panel. The touch panelincludes a start button for instructing the processing device 30 tostart the position detection process of the landmark 8. In theembodiment, the operating unit includes the start button. The worker WMpresses (operates) the start button.

The operating unit (start button) of the input device 31 is operated toinput an operation signal into the processing device 30. The processingdevice 30 transmits, from the wireless communication device 32, theoperation signal input from the operating unit of the input device 31.The wireless communication device 18 of the control apparatus 10receives the operation signal from the wireless communication device 32and outputs the operation signal to the processing device 12. Theprocessing device 12 acquires the operation signal from the input device31, and then sets the prohibited area 100 where the entry of the dumptruck 2 is prohibited so as to include the position of the antenna 34A(step SB3). In the embodiment, the processing device 12 maysimultaneously perform the acquisition of the operation signal from theinput device 31 and the setting of the prohibited area 100. Theprocessing device 12 may set the prohibited area 100 after a lapse of apredetermined time (for example, after a lapse of one second) since theacquisition of the operation signal from the input device 31.

The processing device 12 sets the prohibited area 100 based on thedetection result of the position detection device 34 acquired via thecommunication system 9 so as to include the position of the antenna 34A.The position detection device 34 detects the GPS position of the antenna34A. The processing device 12 can set the prohibited area 100 based onthe GPS coordinate system so as to include the GPS position of theantenna 34A.

As described above, prior to going out of the vehicle 3, the worker WMoperates the input device 31 placed in the vehicle 3. In the embodiment,the prohibited area 100 is set before the worker WM goes out of thevehicle 3 (while the worker WM is inside the vehicle 3). In theembodiment, the prohibited area 100 is set in the state where theantenna 34A is mounted in the vehicle 3 (in the state where the antenna34A is placed inside the vehicle 3).

In the embodiment, the prohibited area 100 where the entry of the dumptruck 2 is prohibited is set prior to the position detection process andthe position registration process of the landmark 8 so as to include theposition of the antenna 33A. The processing device 12 sets theprohibited area 100 based on the detection result of the positiondetection device 33 acquired via the communication system 9 so as toinclude the position of the antenna 33A. The position detection device33 detects the GPS position of the antenna 33A. The processing device 12can set the prohibited area 100 based on the GPS coordinate system so asto include the GPS position of the antenna 33A. The processing device 12sets the prohibited area 100 such that the antenna 33A and the vehicle 3are situated in the prohibited area 100.

The processing device 12 transmits an instruction signal to the dumptruck 2 via the communication system 9 to prevent the dump truck 2 fromentering the prohibited area 100. The instruction signal is transmittedfrom the wireless communication device 18 placed in the control facility7 to the wireless communication device 28 placed in the dump truck 2.The instruction signal includes information on travel conditions set soas to cause the running dump truck 2 to stop before the prohibited area100 (so as to prevent the running dump truck 2 from entering theprohibited area 100). The wireless communication device 28 of the dumptruck 2 receives the instruction signal from the wireless communicationdevice 18 of the control apparatus 10 and outputs the instruction signalto the processing device 20. The processing device 20 (the travelcontrol unit 20D) controls the travel (operation) of the dump truck 2 soas to prevent the dump truck 2 from entering the prohibited area 100.The prohibited area 100 is defined in the GPS coordinate system. Theprocessing device 12 (the travel route creation unit 12C) creates atravel route in the GPS coordinate system. The processing device 20controls the travel of the dump truck 2 based on the GPS position of thedump truck 2. In other words, the prohibited area 100, the position ofthe dump truck 2, and the travel route are respectively defined in theGPS coordinate system. Therefore, the processing device 12 can create atravel route and determine travel speed so as to prevent the dump truck2 from entering the prohibited area 100. The processing device 12 cantransmit an instruction signal to the dump truck 2 so as to prevent thedump truck 2 from entering the prohibited area 100. The processingdevice 20 can control the dump truck 2 so as to prevent the dump truck 2from entering the prohibited area 100.

In the embodiment, the prohibited area 100 is set so as to include theposition of the antenna 33A fixed to the vehicle 3, whether the inputdevice 31 is operated or not. The prohibited area 100 is continued to beset so as to include the position of the antenna 33A at least during theoperation of the dump truck 2. The prohibited area 100 is set so as toinclude the position of the antenna 33A, whether the position detectionprocess and the position registration process of the landmark 8 areperformed or not. In the embodiment, when at least the vehicle 3 runs atthe mine, the prohibited area 100 is set so as to include the positionof the antenna 33A. The prohibited area 100 set so as to include theposition of the antenna 33A is set so as to include the vehicle 3. Theprohibited area 100 including the position of the antenna 33A and theposition of the vehicle 3 is continued to be set also during the travelof the vehicle 3. Consequently, if the vehicle 3 runs at the mine, thedump truck 2 is prohibited from approaching the vehicle 3.

In other words, in the embodiment, the prohibited area 100 is set so asto include the position of the antenna 33A (the vehicle 3), prior to theoperation of the input device 31. The prohibited area 100 is set so asto include both the position of the antenna 33A (the vehicle 3) and theposition of the antenna 34A, subsequent to the operation of the inputdevice 31.

In the embodiment, the travel condition (travel speed) of the dump truck2 is set such that the dump truck 2 approaching the prohibited area 100does not change the travel route but gradually decreases in travel speedand stops before the prohibited area 100. For example, the travelcondition is set such that the travel route between the dump truck 2 andthe prohibited area 100 is divided into a plurality of sections and thetravel speed is gradually reduced in each section from the dump truck 2toward the prohibited area 100.

The dump truck 2 may stop before the prohibited area 100 or may runskirting around the prohibited area 100. The dump truck 2 runs skirtingaround the prohibited area 100 to prevent the operation of the dumptruck 2 from being stopped. Accordingly, a reduction in productivity atthe mine is suppressed.

After the prohibited area 100 is set so as to include the position ofthe antenna 33A and the position of the antenna 34A, the positiondetection process of the landmark 8 is started (step SB4). The worker WMgoes out of the vehicle 3 carrying (holding) the antenna 34A. Theprohibited area 100 including the position of the antenna 34A is set soas to include the worker WM. Therefore, the worker WM, who has gone outof the vehicle 3, is situated in the prohibited area 100. Moreover, theantenna 34A is situated in the vicinity of the landmark 8 andaccordingly the landmark 8 is situated in the prohibited area 100. Inthe embodiment, the antenna 34A, the landmark 8, and the worker WM aresituated in the prohibited area 100.

FIG. 11 is a diagram illustrating an example of the prohibited area 100.In the example illustrated in FIG. 11, the prohibited area 100 is set asone area including both the position of the antenna 33A and the positionof the antenna 34A. In the example illustrated in FIG. 11, the externalshape of the prohibited area 100 is a circle. The external shape of theprohibited area 100 may be a polygon such as a rectangle. The antenna33A, the vehicle 3, the antenna 34A, the landmark 8, and the worker WMare situated in the prohibited area 100. In the embodiment, the cable 35is also situated in the prohibited area 100. The prohibited area 100 isdefined based on the GPS coordinate system. Therefore, the prohibitedarea 100 is set to enable the processing device 12 to prohibit the dumptruck 2 running based on the GPS coordinate system from entering theinside of the prohibited area 100.

An instruction signal is transmitted from the communication system 9 tothe processing device 20 of the dump truck 2 to prevent the dump truck 2from entering the prohibited area 100. The processing device 20 controlsthe travel (operation) of the dump truck 2 to prevent the dump truck 2from entering the prohibited area 100.

FIG. 12 is a diagram illustrating an example of the prohibited area 100.As illustrated in FIG. 12, the processing device 12 changes the size ofthe prohibited area 100 based on the relative position between theantenna 33A and the antenna 34A. As illustrated in FIG. 12, the workerWM holding the antenna 34A may move on the outside of the vehicle 3. Theprocessing device 12 changes the size (dimension) of the prohibited area100 based on the detection result of the position detection device 33and the detection result of the position detection device 34 such thatboth of the vehicle 3 and the worker WM moving on the outside of thevehicle 3 are continued to be situated in the prohibited area 100. Theprocessing device 12 updates the prohibited area 100 based on thepositions of the antennas 33A and 34A such that the vehicle 3 and theworker WM are both situated in the prohibited area 100. In the exampleillustrated in FIG. 12, the antenna 34A (the worker WM holding theantenna 34A) moves away from the vehicle 3. If the antenna 34A (theworker WM holding the antenna 34A) moves away from the vehicle 3, theprohibited area 100 is expanded. If the antenna 34A (the worker WMholding the antenna 34A) moves close to the vehicle 3, the prohibitedarea 100 is reduced. Even if the antenna 34A (the worker WM holding theantenna 34A) moves relative to the vehicle 3, the size of the prohibitedarea 100 is not necessarily changed. Even if the antenna 34A (the workerWM holding the antenna 34A) moves relative to the vehicle 3, as long asthe vehicle 3 and the worker WM are situated in the prohibited area 100,the size of the prohibited area 100 is not necessarily changed.

In the embodiment, information on the position (GPS position) of thelandmark 8 obtained using the GPS antenna 34A is temporarily stored(held) in the storage device 39 of the vehicle 3. After the positiondetection process of the landmark 8 ends, the worker WM returns to theinside of the vehicle 3 (rides in the vehicle 3) carrying the antenna34A. The antenna 34A is loaded into the vehicle 3.

Next, the position registration process of the landmark 8 is performed.The information on the position (GPS position) of the landmark 8obtained using the GPS antenna 34A is registered (stored) in the storagedevice 13 (the database 133) of the control apparatus 10. In theembodiment, the input device 31 placed in the vehicle 3 is operated toregister the position of the landmark 8 in the storage device 13. Theinput device 31 functions as the operating unit that can input anoperation signal into the processing device 30. The worker WM operatesthe input device 31 to start the position registration process of thelandmark 8 (step SB5). In the embodiment, the input device 31 includesthe touch panel. The touch panel includes a registration button forinstructing the processing device 30 to start the position registrationprocess of the landmark 3. The operating unit includes the registrationbutton. The worker WM presses (operates) the registration button.

The operation of the input device 31 causes the processing device 30 totransmit from the wireless communication device 32 the information onthe position of the landmark 8 temporarily stored in the storage device39. The wireless communication device 32 transmits the information onthe position of the landmark 8 to the wireless communication device 18of the control apparatus 10. The wireless communication device 18outputs to the processing device 12 the received information on theposition of the landmark 8. The processing device 12 registers theacquired information on the position (GPS position) of the landmark 8 inthe database 13B of the storage device 13 (step SB6).

If a worker (occupant) WM different from the worker WM who is workingoutside the vehicle 3 is in the vehicle 3, the occupant WM may operatethe registration button before the worker WM who is working outside thevehicle 3 returns to the inside of the vehicle 3.

The information on the position of the landmark 8 is temporarily storedin the storage device 13 of the control apparatus 10 via thecommunication system 9, and the input device 17 of the control apparatus10 is operated by the controller, and accordingly the information on theposition of the landmark 8 temporarily stored in the storage device 13may be registered in the database 13B.

The worker WM rides in the vehicle 3 and mounts the antenna 34A in thevehicle 3 and accordingly the position detection process of the landmark8 ends. In the embodiment, the worker WM rides in the vehicle 3 and thenoperates the input device 31 placed in the vehicle 3. The input device31 functions as the operating unit that can input an operation signalinto the processing device 30. The worker WM operates the input device31 to end the position detection process of the landmark 8 (step SB7).In the embodiment, the input device 31 includes the touch panel. Thetouch panel includes an end button for instructing the processing device30 to end the position detection process of the landmark 8. Theoperating unit includes the end button. The worker WM presses (operates)the end button.

The operating unit (end button) of the input device 31 is operated toinput an operation signal into the processing device 30. The processingdevice 30 transmits, from the wireless communication device 32, theoperation signal input from the operating unit of the input device 31.The wireless communication device 18 of the control apparatus 10receives the operation signal from the wireless communication device 32and outputs the operation signal to the processing device 12. Theprocessing device 12 cancels the setting of the prohibited area 100including the position of the antenna 34A after the operation signal isinput from the input device 31.

With the above, the position detection process and the positionregistration process of the landmark 8 end. The worker WM may operate(drive) the vehicle 3 and, for example, return to the control facility7. The worker WM may move operating (driving) the vehicle 3 for theposition detection process and the position registration process ofanother landmark 8.

In the embodiment, even after the setting of the prohibited area 100including the position of the antenna 34A is canceled, the prohibitedarea 100 including the position of the antenna 33A is continued to beset. Consequently, even if the vehicle 3 runs at the mine, the dumptruck 2 is prohibited from approaching the vehicle 3.

The setting of the prohibited area 100 including the position of theantenna 34A may not be canceled after the end of the position detectionprocess of the landmark 8.

As described above, according to the embodiment, it is configured suchthat the prohibited area 100 is set based on the GPS position of theantenna 33A so as to include the GPS position of the antenna 33A.Accordingly, the dump truck 2 is prevented from approaching the vehicle3. Therefore, a reduction in the working efficiency of the worker WMmanning the vehicle 3 is suppressed. Moreover, the safety of the vehicle3 (the worker WM manning the vehicle 3) is secured. Moreover, accordingto the embodiment, it is configured such that the prohibited area 100 isset based on the GPS position of the antenna 33A and the GPS position ofthe antenna 34A so as to include both GPS positions of the antennas 33Aand 34A. Accordingly, the dump truck 2 is prevented from approachingeach of the antenna 33A (the vehicle 3) and the antenna 34A. Therefore,even if work using the antenna 34A is carried out outside the vehicle 3,a reduction in its working efficiency is suppressed. Moreover, thesafety of the worker WM existing in the prohibited area 100 includingthe position of the antenna 34A is secured. Moreover, the dump truck 2does not enter each of the prohibited area (working area) 100 includingthe position of the antenna 33A, and the prohibited area (working area)100 including the position of the antenna 34A. Accordingly, for example,an interruption of work in the prohibited area (working area) 100 at theapproach of the dump truck 2 is suppressed.

In the embodiment, it is configured such that the position detectiondevice 34 is placed in the vehicle 3, and the antenna 34A and theposition detection device 34 are connected via the cable 35. Both of theantenna 34A and the position detection device 34 may be brought out fromthe vehicle 3. For example, a portable GPS device with the built-inantenna 34A and position detection device 34 may be used to detectpositional information. Both the antenna 34A and the position detectiondevice 34 can be brought out from the vehicle 3 and accordingly thecable 35 can be omitted. The same shall apply to the followingembodiments.

<Modification of Prohibited Area>

FIG. 13 is a modification of the prohibited area 100. In FIG. 13, theprohibited area 100 includes a prohibited area 100A including theposition of the antenna 33A, and a prohibited area 100B that is set awayfrom the prohibited area 100A and includes the position of the antenna34A. The processing device 12 sets the prohibited area 100A based on thedetection result of the position detection device 33 so as to includethe position of the antenna 33A. The processing device 12 sets theprohibited area 100B based on the detection result of the positiondetection device 34 so as to include the position of the antenna 34A.The prohibited area 100A is set so as to include the antenna 33A and thevehicle 3. The prohibited area 100B is set so as to include the antenna34A, the landmark 8, and the worker WM. The processing device 12transmits an instruction signal to the dump truck 2 via thecommunication system 9 to prevent the dump truck 2 from entering theprohibited areas 100A and 100B. Consequently, the dump truck 2 isprevented from entering the inside of the prohibited areas 100A and100B. Therefore, a reduction in the working efficiency of work carried,out in the prohibited area 100A and a reduction in the workingefficiency of work carried out in the prohibited area 100B aresuppressed. Moreover, the safety of the worker WM and the vehicle 3 issecured.

In the example illustrated in FIG. 13, the processing device 12 maychange the position of the prohibited area 100B based on the position ofthe antenna 34A. For example, if the worker WM moves with the antenna34A, the prohibited area 100B may be moved based on the detection resultof the position detection device 34 such that the worker WM and theantenna 34A continue to be situated in the prohibited area 100B. Inother words, the processing device 12 may move the prohibited area 100Bin synchronization with the antenna 34A (the worker WM).

<Modifications of Prohibited Area>

FIG. 14 is a modification of the prohibited area 100. In FIG. 14, themanagement system 1 includes the antenna 33A placed on the vehicle 3, anantenna 34Aa mounted in a releasable manner in the vehicle 3, and anantenna 34Ab mounted in a releasable manner in the vehicle 3. In otherwords, in the example illustrated in FIG. 14, the antennas 34Aa and34Ab, which can be carried by the worker WM, are provided. Theprocessing device 12 may set the prohibited area 100 based on theposition (GPS position) of the antenna 33A, the position (GPS position)of the antenna 34 a, and the position (GPS position) of the antenna 34Abso as to include the position (GPS position) of the antenna 33A, theposition (GPS position) of the antenna 34Aa, and the position (GPSposition) of the antenna 34Ab.

FIG. 15 is a modification of the prohibited area 100. In FIG. 15, themanagement system 1 includes the antenna 33A placed on the vehicle 3,the antenna 34Aa mounted in a releasable manner in the vehicle 3, andthe antenna 34Ab mounted in a releasable manner in the vehicle 3. Inother words, also in the example illustrated in FIG. 15, the antennas34Aa and 34Ab, which can be carried by the worker WM, are provided. Theprocessing device 12 may set the prohibited area 100A including theposition (GPS position) of the antenna 33A, the prohibited area 100Bthat is set away from the prohibited area 100A and includes theprohibited area 100C that is set away from each of the prohibited areas100A and 100B and includes the position (GPS position) of the antenna34Ab, based on the position (GPS position) of the antenna 33A, theposition (GPS position) of the antenna 34 a, and the position (GPSposition) of the antenna 34Ab.

In the above-mentioned embodiments, the example has been described wherethe processing device 12 of the control facility 7 (the controlapparatus 10) acquires the detection result of the position detectiondevice 33 and the position detection result of the position detectiondevice 34 via the communication system 9, sets the prohibited area 100,and transmits an instruction signal to the dump truck 2. The processingdevice 20 of the dump truck 2 may acquire the detection result of theposition detection device 33 and the position detection result of theposition detection device 34 and set the prohibited area 100. Theprocessing device 20 of the dump truck 2 may control the travel of thedump truck 2 based on the set prohibited area 100 so as to prevent thedump truck 2 from entering the prohibited area 100.

In the above-mentioned embodiments, the processing device 30 of thevehicle 3 may acquire the detection result of the position detectiondevice 33 and the position detection result of the position detectiondevice 34 via the communication system 9 (the wireless communicationdevices 28 and 32) and set the prohibited area 100. The processingdevice 30 of the vehicle 3 may transmit information on the setprohibited area 100 to the dump truck 2 via the communication system 9(the wireless communication devices 32 and 28). In other words, theinformation on the prohibited area 100 set by the processing device 30may be transmitted from the wireless communication device 32 of thevehicle 3 to the wireless communication device 28 of the dump truck 2.The processing device 20 of the dump truck 2 may control the travel ofthe dump truck 2 based on the prohibited area 100 set by the processingdevice 30 of the vehicle 3 so as to prevent the dump truck 2 fromentering the prohibited area 100.

In the above-mentioned embodiments, it is configured such that theposition detection process of the landmark 8 is carried out in theprohibited area 100. The process (work) carried out in the prohibitedarea 100 is not limited to the position detection process of thelandmark 8. For example, the maintenance work of the haul road HL or therepair work of equipment may be carried out in the prohibited area 100set based on the antenna 34A. Also in this case, the prohibited area(working area) 100 is set so as to include the position of the antenna34A and accordingly the safety of the worker WM is secured and areduction in working efficiency is suppressed.

In the above-mentioned embodiments, the example has been described wherethe worker WM carries out work (a process) in the prohibited area 100.Also in the work (process) without the worker WM, the prohibited area(working area) 100 is set so as to include the position of the antenna34A and accordingly a reduction in the working efficiency of the work inthe prohibited area (working area) 100 is suppressed. For example, whena raining machine (for example, a motor grader) different from thevehicle 3 and the dump truck 2 operates at the mine, the prohibited area100 may be placed including the mining machine in order to carry outwork using the mining machine smoothly. The mining machine operates inthe prohibited area 100 and accordingly, even if the dump truck 2approaches, it is not necessary to stop the operation of the miningmachine. Moreover, the mining machine operates in the prohibited area100 and accordingly it is not necessary to stop the operation of thedump truck 2. In other words, the mining machine is situated in theprohibited area 100 and accordingly the dump truck 2 can operateconcurrently with the operation of the mining machine. Therefore,reductions in working efficiency and productivity at the mine aresuppressed.

In the above-mentioned embodiments, the dump truck 2 may be what iscalled a manned dump truck that operates by operations by a worker(driver). If the prohibited area 100 is set, the communication system 9may transmit an instruction signal so as to prevent the dump truck(manned dump truck) 2 from entering the prohibited area 100. Thecommunication system 9 may, for example, transmit an instruction signalincluding an alert (warning) to the dump truck 2 approaching theprohibited area 100.

The elements of the above-mentioned embodiments include elements thatcan be easily assumed by those skilled in the art, and substantially thesame elements, what is called elements within the range of equivalents.Moreover, the elements of the above-mentioned embodiments can becombined as appropriate. Moreover, a part of the components may not beused.

REFERENCE SIGNS LIST

1 MANAGEMENT SYSTEM

2 DUMP TRUCK (MINING MACHINE)

3 VEHICLE

4 LOADING MACHINE

9 COMMUNICATION SYSTEM

10 CONTROL APPARATUS

12 PROCESSING DEVICE

13 STORAGE DEVICE

18 WIRELESS COMMUNICATION DEVICE

20 PROCESSING DEVICE

25 STORAGE DEVICE

28 WIRELESS COMMUNICATION DEVICE

29 POSITION DETECTION DEVICE

29A ANTENNA

30 PROCESSING DEVICE

31 INPUT DEVICE

32 WIRELESS COMMUNICATION DEVICE

33 POSITION DETECTION DEVICE

33A ANTENNA

34 POSITION DETECTION DEVICE

34A ANTENNA

39 STORAGE DEVICE

100 PROHIBITED AREA

DPA DUMP SITE

HL HAUL ROAD

LPA LOAD SITE

The invention claimed is:
 1. A management system of a mining machinecomprising: a vehicle able to run at a mine; a first antenna, which isplaced in the vehicle, configured to receive radio waves from GPSsatellites; a portable second antenna, which is mounted in a releasablemanner in the vehicle, configured to receive radio waves from the GPSsatellites, the second antenna being connected to the vehicle via acable; a first detection device, which is placed in the vehicle,configured to detect a position of the first antenna based on a signalfrom the first antenna; a second detection device configured to detect aposition of the second antenna based on a signal from the secondantenna; and a processing device configured to set a prohibited areawhere an entry of a mining machine able to run at the mine is prohibitedbased on a detection result of the first detection device and adetection result of the second detection device, such that theprohibited area includes the position of the first antenna and theposition of the second antenna, wherein a position of a landmarkinstalled in the mine is detected using the second antenna which ispositioned in a vicinity of the landmark, and the detected position ofthe landmark is registered with a central control apparatus configuredto control one or more vehicles in the mine, wherein the mining machineis a driverless dump truck that operates by an instruction signal fromthe central control apparatus and is configured to run along a createdtravel route, and the landmark is used to correct a position of thedriverless dump truck when the driverless dump truck runs, wherein theprocessing device is configured to determine whether the landmark isdetected based on a detection signal from a non-contact sensor includedin the driverless dump truck, and is configured, when the landmark isdetermined to be detected, to derive an absolute position of thedriverless dump truck based on information regarding a relative positionof the landmark and the driverless dump truck detected by using thenon-contact sensor and information regarding an absolute position of thelandmark registered, and is configured, when the position of thedriverless dump truck is determined to be deviated from the createdtravel route, to perform control to correct the position of thedriverless dump truck so as to cause the driverless dump truck to runalong the created travel route.
 2. The management system of a miningmachine according to claim 1, wherein the second detection device isplaced in the vehicle, and the second antenna is configured to receiveradio waves from the GPS satellites in a state of being placed outsidethe vehicle.
 3. The management system of a mining machine according toclaim 1, wherein the second antenna is an antenna carried by a workermanning the vehicle.
 4. The management system of a mining machineaccording to claim 1, further comprising an operating unit, which isplaced in the vehicle, configured to allow an input of a signal into theprocessing device, and the operating unit is operated to perform atleast one of the setting of the prohibited area including the positionof the second antenna and a cancellation of the setting.
 5. Themanagement system of a mining machine according to claim 1, wherein themining machine is operated on at least a part of a load site, a dumpsite, and a haul road leading to at least one of the load site and thedump site at the mine, and the prohibited area including the position ofthe first antenna is continued to be set during the operation of themining machine.
 6. The management system of a mining machine accordingto claim 1, wherein the prohibited area is one area including both theposition of the first antenna and the position of the second antenna. 7.The management system of a mining machine according to claim 6, whereinthe processing device is configured to change a size of the prohibitedarea based on a relative position between the first antenna and thesecond antenna.
 8. The management system of a mining machine accordingto claim 1, wherein the prohibited area includes a first prohibited areaincluding the position of the first antenna, and a second prohibitedarea that is set away from the first prohibited area and includes theposition of the second antenna.
 9. The management system of a miningmachine according to claim 1, further comprising a communication systemconfigured to transmit an instruction signal to the mining machine toprevent the mining machine from entering the prohibited area.
 10. Themanagement system of a mining machine according to claim 9, wherein thecommunication system includes a first communication device, mounted inthe vehicle, configured to allow a transmission of information based onsignals respectively from the first and second antennas.
 11. Themanagement system of a mining machine according to claim 10, wherein theinformation based on the signals include information on the position ofthe first antenna detected by the first detection device, andinformation on the position of the second antenna detected by the seconddetection device.
 12. The management system of a mining machineaccording to claim 11, further comprising a control facility includingthe processing device, wherein the processing device of the controlfacility is configured to set the prohibited area based on theinformation based on the signals from the first communication device,the communication system includes a second communication device placedin the control facility and a third communication device placed in themining machine, and the instruction signal is transmitted from thesecond communication device to the third communication device.
 13. Themanagement system of a mining machine according to claim 1, wherein thelandmark is used to correct an estimated position of the driverless dumptruck obtained by dead reckoning.
 14. The management system of a miningmachine according to claim 1, wherein the driverless dump truck isconfigured to run along a created travel route, and when the driverlessdump truck runs off the created travel route, the position of thedriverless dump truck is corrected using the landmark so as to cause thedump truck to run along the created travel route.
 15. The managementsystem of a mining machine according to claim 1, wherein the driverlessdump truck includes a vehicle processing device configured to calculatea correction amount based on at least a relative position of thelandmark to the driverless dump truck and the absolute position of thelandmark when the driverless dump truck runs off the created travelroute and to control a travel operation of the dump truck based on atleast the calculated correction amount so as to cause the dump truck torun along the created travel route.
 16. A management system of a miningmachine, including a central control apparatus placed in a controlfacility, the management system comprising: a vehicle able to run at amine; a first antenna, placed in the vehicle, which is configured toreceive radio waves from GPS satellites; a portable second antenna,which is mounted in a releasable manner in the vehicle, configured toreceive radio waves from the GPS satellites in a state of being carriedby a worker manning the vehicle outside the vehicle, the second antennabeing connected to the vehicle via a cable; a first detection device,which is placed in the vehicle, configured to detect a position of thefirst antenna based on a signal from the first antenna; a seconddetection device, which is placed in the vehicle, configured to detect aposition of the second antenna based on a signal from the secondantenna; and a processing device, which is provided in the centralcontrol apparatus, configured to set a prohibited area where an entry ofa mining machine able to run at the mine is prohibited based on adetection result of the first detection device and a detection result ofthe second detection device, such that the prohibited area includes theposition of the first antenna and the position of the second antenna,and set a travel condition of the mining machine to stop a travel of themining machine before the prohibited area; and a communication systemconfigured to transmit to the mining machine information on the travelcondition set by the processing device, wherein the mining machine isconfigured to run at the mine in accordance with the information on thetravel condition transmitted from the central control apparatus by thecommunication system, wherein a position of a landmark installed in themine is detected using the second antenna which is positioned in avicinity of the landmark, and the detected position of the landmark isregistered with the central control apparatus configured to control oneor more vehicles in the mine, wherein the mining machine is a driverlessdump truck that operates by an instruction signal from the centralcontrol apparatus and is configured to run along a created travel route,and the landmark is used to correct a position of the driverless dumptruck when the driverless dump truck runs, wherein the processing deviceis configured to determine whether the landmark is detected based on adetection signal from a non-contact sensor included in the driverlessdump truck, and is configured, when the landmark is determined to bedetected, to derive an absolute position of the driverless dump truckbased on information regarding a relative position of the landmark andthe driverless dump truck detected by using the non-contact sensor andinformation regarding an absolute position of the landmark registered,and is configured, when the position of the driverless dump truck isdetermined to be deviated from the created travel route, to performcontrol to correct the position of the driverless dump truck so as tocause the driverless dump truck to run along the created travel route.17. A management method of a mining machine comprising: receiving radiowaves from GPS satellites with a first antenna placed in a vehicle ableto run at a mine; receiving radio waves from the GPS satellites with aportable second antenna mounted in a releasable manner in the vehicle,the second antenna being connected to the vehicle via a cable; detectingvia a first detection device a position of the first antenna based on asignal from the first antenna; detecting via a second detection device aposition of the second antenna based on a signal from the secondantenna; setting via a processing device a prohibited area where anentry of a mining machine able to run at the mine is prohibited based onresults of the detection, such that the prohibited area includes theposition of the first antenna and the position of the second antenna;and transmitting an instruction signal to the mining machine to preventthe mining machine from entering the prohibited area, wherein a positionof a landmark installed in the mine is detected using the second antennawhich is positioned in a vicinity of the landmark, and the detectedposition of the landmark is registered with a central control apparatusconfigured to control one or more vehicles in the mine, wherein themining machine is a driverless dump truck that operates by aninstruction signal from the central control apparatus and is configuredto run along a created travel route, and the landmark is used to correcta position of the driverless dump truck when the driverless dump truckruns, wherein the processing device is configured to determine whetherthe landmark is detected based on a detection signal from a non-contactsensor included in the driverless dump truck, and is configured, whenthe landmark is determined to be detected, to derive an absoluteposition of the driverless dump truck based on information regarding arelative position of the landmark and the driverless dump truck detectedby using the non-contact sensor and information regarding an absoluteposition of the landmark registered, and is configured, when theposition of the driverless dump truck is determined to be deviated fromthe created travel route, to perform control to correct the position ofthe driverless dump truck so as to cause the driverless dump truck torun along the created travel route.